Musar zu Jeschijahu 58:7

And it is good and very correct that there be volunteers from the people in each and every city, to be ready and prepared for any matter of rescue, when an Israelite man or woman is found in trouble. And behold we became obligated to exert ourselves for his missing ox or sheep, to be with us - now what fineness and greatness to do for its owners - until our brother requests it; and it is written (Isaiah 58:7), “and take the wretched poor into your home.”

And he should have mercy on his relatives, as it is written: "And that you hide not yourself from your own flesh" (Is. 58:7).